MANIPULATOR AND ROBOT ASSEMBLY

Description

[0001] The present invention relates to a manipulator, i.e., the part of a robot assembly that interacts physically, and in particular mechanically, with the environment. The invention further relates to a robot assembly comprising the manipulator.

[0002] In the prior art, manipulators in a wide variety of designs are widely used for manipulation, positioning, and measurement tasks, and are known, for example, as the robot arms of industrial robots. To use the tools required for performing these manipulation, positioning, or measurement tasks effectively, they must be able to be positioned and oriented in space by suitable translational or rotational movements.

[0003] This often places high demands on motion dynamics and positioning accuracy. To achieve a short cycle time for the entire system, it is necessary to keep the cycle time of each individual handling process as short as possible. This requires that the so-called tool center point (TCP) of the manipulator can be moved with high dynamics.

[0004] When handling lightweight workpieces, the relatively high mass of the robot often results in a large portion of the energy being used to move the robot itself, thus limiting its motion dynamics. One reason for this is the frequently serial arrangement of the manipulator drives, as is the case with SCARA robots or vertical articulated robots. This leads to particularly high moments of inertia with respect to the drive axes located at the beginning of the kinematic chain. While manipulators with parallel kinematic structures, such as those found in delta robots, can alleviate this problem, their implementation in production systems often presents challenges due to their unfavorable workspace-to-installation-space ratio.This usually necessitates mounting the manipulator above the process area, which severely restricts the arrangement of other components within the production system. In particular, the manipulator has obstructions that can negatively impact the robot's peripherals or process environment (for example, the placement of a camera for process monitoring).

[0005] From EP 1052071 A2, a two-dimensionally movable manipulator with a passive arm is known, comprising a proximal and a distal link. The proximal link has two parallel struts articulated to two corresponding joint axes arranged on a fixed vertical support, as well as to two axes of an adapter. Two parallel struts of the distal link are also articulated to the adapter and to a robot flange. The passive arm is deflected by means of a drive unit arranged in the vertical support, which acts on the distal link via a linkage, and by means of a drive unit acting on the proximal link via another linkage, which is arranged in a crossbeam that cantilevers from the vertical support above the passive arm. When the passive arm is deflected, the adapter is tilted relative to the horizontal.

[0006] Documents EP 3 838 499 A1, WO 2023 / 162816 A1 and FR 2 648 378 A1 also disclose prior art manipulators.

[0007] In view of the state of the art, the object of the present invention is to create a manipulator that makes it possible to reduce the cycle times for predetermined movement sequences of a robot flange compared to the usual cycle times of conventional manipulators.

[0008] According to one aspect of the invention, this problem is solved by a manipulator according to claim 1.

[0009] In particular, the present invention thus provides a manipulator comprising the following: a vertical support rotatable about a vertical axis, a cross support rotatably connected to the vertical support and projecting from the vertical support, an inner proximal joint axis arranged on the cross support and spaced apart from the vertical support, an outer proximal joint axis arranged on the cross support and spaced further apart from the vertical support than the inner proximal joint axis, an inner proximal strut structure having a proximal end region and a distal end region articulated to the inner proximal joint axis, an outer proximal strut structure having a proximal end region and a distal end region articulated to the outer proximal joint axis, and an inner central joint axis arranged at the distal end region of the inner proximal strut structure.an outer central joint axis arranged at the distal end of the outer proximal strut structure, an inner distal strut structure having a proximal end and a distal end articulated to the inner central joint axis, an outer distal strut structure having a proximal end and a distal end articulated to the outer central joint axis, an inner distal joint axis arranged at the distal end of the inner distal strut structure, an outer distal joint axis arranged at the distal end of the outer distal strut structure, an adapter articulated to the inner central joint axis and the outer central joint axis, a robot flange articulated to the inner distal joint axis and the outer distal joint axis, a first drive unit attached to the vertical support,A proximal tension-compression element for transmitting a force component parallel to the cantilever direction of the crossbeam from the first drive unit to one of the proximal strut structures, a second drive unit attached to the vertical beam, and a distal tension-compression element for transmitting a force component parallel to the cantilever direction of the crossbeam from the second drive unit to one of the distal strut structures. The inner and outer distal and proximal joint axes, as well as the central joint axes, are arranged orthogonally to the plane spanned by the vertical axis and the cantilever direction of the crossbeam.

[0010] In this context, joint or center joint axes do not refer to components, but rather, according to the usual meaning of the word, to lines around which corresponding joint movements of the components articulated at their respective locations can take place.

[0011] The cantilever direction is understood to be a horizontal line that passes through the centroid of the cross-sectional area of ​​the crossbeam at the point where the crossbeam is attached to the vertical beam and coincides with the connecting line from this centroid to the centroid of the cross-sectional area of ​​the crossbeam equidistant from the inner and outer proximal hinge axes, or runs in a common vertical plane with said connecting line.

[0012] The attributes describe innere / äußere an arrangement that is radially closer to or further away from the vertical axis, and the attributes proximal / distal An arrangement along the manipulator's kinematic chain, either closer to its base (anchoring point) or further away from it. The manipulator is thus anchored at its most proximal position, while the robot flange or any tool attached to it is located at the manipulator's most distal position.

[0013] The inner and outer proximal strut structures form a proximal link, and the inner and outer distal strut structures a distal link of the manipulator. The tension-compression elements are referred to as proximal or distal, depending on whether they act on the proximal or distal link. The proximal and distal links form a passive arm of the manipulator.

[0014] According to the invention, the movement around the vertical axis provides three-dimensional positioning of the robot flange in addition to the mobility of the passive arm. The manipulator can thus position its TCP in all three translational degrees of freedom (x, y, z). The robot flange can always remain horizontally oriented.

[0015] Advantageously, a combination of serial and parallel kinematic structures is thus present, i.e., a hybrid kinematic structure. The parallel kinematic structure with a closed kinematic chain, comprising the first and second drive units, the passive arm, the vertical and transverse beams, and the tension-compression elements, is mounted serially on the vertical axis as the pivot drive axis. This structure allows the TCP to be freely positioned in space. A further drive unit can be attached serially to the parallel kinematic chain to orient a tool.

[0016] Horizontal can, but does not necessarily, mean horizontal in the Earth's gravitational field. Likewise, vertical can, but does not necessarily, mean perpendicular in the Earth's gravitational field. Vertical denotes the direction of the z-axis and horizontal the plane of the x- and y-axes in the Cartesian reference frame chosen for this description, whose orientation may (but does not have to) be tilted relative to a reference frame oriented along vertical and horizontal axes in the gravitational field.

[0017] In the plane defined by the vertical axis and the cantilever direction of the crossbeam, a forced guidance of the passive arm is advantageously achieved, as the proximal and central joint axes, or the central and distal joint axes, form a parallelogram in said plane. The transmission of a tensile force component parallel to the cantilever direction of the crossbeam to the proximal or distal strut structure results in a radial inward movement of the adapter or robot flange relative to the vertical axis; the transmission of a compressive force component parallel to the cantilever direction of the crossbeam to the proximal or distal strut structure results in a radial outward movement of the adapter or robot flange relative to the vertical axis.

[0018] By mounting the first and second drive units on the vertical support, the masses to be pivoted at the more distally located links of the manipulator are reduced. The resulting lower moments of inertia allow for significantly faster pivoting of all manipulator links compared to conventional manipulators. Since both the inner proximal and distal strut structures and the outer proximal and distal strut structures are articulated to a common central joint axis, the adapter can be designed to be very compact and with a correspondingly low moment of inertia with respect to the proximal joint axes and the vertical axis.

[0019] This also enables an advantageous ratio of installation space to working space as well as easy integration of the manipulator into a process environment by means of floor mounting.

[0020] According to an advantageous embodiment, the manipulator further comprises a further tensile-compression element which, together with the proximal tensile-compression element, forms a proximal tensile-compression element pair for transmitting the force component parallel to the cantilever direction of the crossbeam from the first drive unit to one of the proximal strut structures. Additionally or alternatively, a further tensile-compression element may advantageously be provided which, together with the distal tensile-compression element, forms a distal tensile-compression element pair for transmitting the force component parallel to the cantilever direction of the crossbeam from the first drive unit to one of the proximal strut structures.

[0021] Preferably, the proximal tension-compression element or element pair is designed to transmit the force component parallel to the cantilever direction of the crossbeam from the first drive unit to the inner proximal strut structure. Additionally or alternatively, the distal tension-compression element or element pair can advantageously be designed to transmit the force component parallel to the cantilever direction of the crossbeam from the second drive unit to the inner distal strut structure. While it is also possible to provide tension-compression elements that transmit the force component parallel to the cantilever direction of the crossbeam to the outer proximal and outer distal strut structures, respectively, this requires somewhat longer tension-compression elements and thus somewhat larger moving masses.

[0022] According to an advantageous embodiment, the first drive unit and / or the second drive unit can be designed as a linear drive. By appropriately arranging the corresponding push-pull element, both a vertical and a near-horizontal orientation of the linear drive can be advantageously implemented.

[0023] This is particularly advantageous when implemented using an electric linear motor, hydraulic or pneumatic cylinder. Linear drives can therefore generally be driven electrically (e.g., electromagnetically) or fluidically (e.g., hydraulically or pneumatically). All linear drives can advantageously be designed as direct drives without additional mechanical transmission elements. Alternatively, linear drives can also be implemented using rotary drives in combination with mechanical transmission elements (in particular, screw drives, toothed belts, or rack and pinion gears). However, due to the favorable mass distribution of the manipulator, mechanical transmission elements are usually unnecessary, as the load on the drives is low due to the corresponding moments of inertia.

[0024] According to a further advantageous embodiment, the first drive unit and / or the second drive unit can be designed as a rotary drive. Preferably, the proximal push-pull element has a first rocker arm connected to the first drive unit and a proximal link articulated to the first rocker arm and the proximal link, and / or the distal push-pull element has a second rocker arm connected to the second drive unit and a distal link articulated to the second rocker arm and the distal link. Alternatively, the person skilled in the art can advantageously use power transmission elements such as four-bar linkages or coupling mechanisms.

[0025] Rotary drives can be electrically (e.g., electromagnetically) or fluidically (especially hydraulically or pneumatically). All rotary drives can advantageously be designed as direct drives without mechanical transmission elements, or alternatively with additional mechanical transmission elements (e.g., toothed belts or gear drives). However, due to the favorable mass distribution of the manipulator, mechanical transmission elements are usually not required, as the load on the drives is low due to the corresponding moments of inertia.

[0026] According to a particularly preferred embodiment, the inner proximal strut structure comprises an inner proximal pair of struts, and / or the inner distal strut structure comprises an inner distal pair of struts. This advantageously prevents undesirable twisting of the proximal or distal link of the manipulator. The torsional stiffness of the proximal or distal link of the manipulator can be further advantageously reduced by connecting the inner proximal pair of struts to each other via an inner proximal cross-strut structure, and / or by connecting the inner distal pair of struts to each other via an inner distal cross-strut structure.

[0027] In particular, this results in an advantageous forced guidance of the passive arm, since the pivot points of the proximal strut constructions on the proximal joint axes and central joint axes, or the pivot points of the distal strut constructions on the central joint axes and distal joint axes (each) span an oblique prism.

[0028] Advantageously, the outer proximal strut structure can be designed as a single outer proximal strut, and / or the outer distal strut structure can be designed as a single outer distal strut. This can advantageously help to keep the moment of inertia for pivoting movements about the vertical axis as low as possible.

[0029] The moment of inertia for pivoting movements around the vertical axis can be reduced particularly advantageously by arranging the respective mass of the first and second drive units as close as possible to the vertical axis.

[0030] This can be achieved in particular with a design in which the horizontal distance between the center of gravity of the first drive unit and the vertical axis and / or the horizontal distance between the center of gravity of the second drive unit and the vertical axis is less than half, preferably one third, of the horizontal distance between the inner proximal joint axis and the vertical axis.

[0031] According to a further advantageous embodiment, the vertical axis penetrates the first drive unit and / or the second drive unit. Preferably, in projection onto a horizontal plane, the center of gravity of the first drive unit is located closer to the vertical axis than at any point on the outer contour of the first drive unit, and / or the center of gravity of the second drive unit is located closer to the vertical axis than at any point on the outer contour of the second drive unit.

[0032] To determine the center of gravity, the drive unit is considered as the starting point, without any (e.g., electrical or pneumatic) supply lines. Since the center of gravity can change depending on the position of the rotor (or translator), the above criteria are considered fulfilled in this case by approximating that the center of gravity of the respective drive unit corresponds to the center of gravity of the stator of the respective drive unit.

[0033] According to a further advantageous interpretation, in none of the four sectors lying between any two orthogonal planes whose line of intersection coincides with the vertical axis is more than two-thirds of the mass of the first drive unit and / or more than two-thirds of the mass of the second drive unit concentrated.

[0034] According to an advantageous embodiment, the vertical support has two vertical beams. Preferably, these are arranged symmetrically to each other with respect to the plane defined by the vertical axis and the cantilever direction of the crossbeam. Advantageously, the first drive unit can be mounted on one of the vertical beams and the second drive unit on the other. A particularly advantageous arrangement with respect to the vertical axis can be implemented by arranging the first drive unit and / or the second drive unit between the vertical beams.

[0035] The robot flange can advantageously be fitted with various effectors or tools, in particular a gripping tool, a cutting tool, a joining tool or an FDM tool (FDM: Fused Deposition Modeling ) .The robot flange can also be fitted with a workpiece holder instead of or in addition to an effector, so that the manipulator can guide a workpiece held in the holder in a defined manner in space.

[0036] According to an advantageous embodiment, the effector or tool is rotatable relative to the robot flange, and the manipulator has a third drive unit for rotating or spatially orienting the tool or effector, which may preferably be attached to the vertical support or the cross support.

[0037] A torque transmission element connecting the third drive unit to the tool for its drive, which can in particular be designed as a cardan shaft, can advantageously be designed as a telescopic shaft or be axially displaceable in the third drive unit.

[0038] The moment of inertia for pivoting movements around the vertical axis can be reduced particularly advantageously by arranging the mass of the third drive unit as close as possible to the vertical axis.

[0039] This can be achieved in particular with a design in which the horizontal distance between the center of gravity of the third drive unit and the vertical axis is less than half the horizontal distance between the inner proximal joint axis and the vertical axis.

[0040] In a particularly advantageous embodiment, the third drive unit is attached to the vertical support, and the vertical axis penetrates the third drive unit.

[0041] Alternatively, the third drive unit can also be advantageously located on the robot flange.

[0042] According to an advantageous embodiment, the manipulator further comprises a camera rotatably connected to the vertical support, the optical axis of which, in horizontal projection, coincides with the overhang direction of the crossbeam or forms an angle of at most 15 degrees with the overhang direction of the crossbeam. The optical axis of the camera thus corresponds approximately to the radial direction from the vertical axis to the robot flange, meaning that the robot flange or a tool attached to it can be positioned near the center of the camera image. The optical axis is understood to be the perpendicular bisector of the surface spanned by the camera aperture.

[0043] Particularly in so-called "pick-and-place" applications, it is often necessary to inspect a workpiece picked up by the manipulator using a camera (e.g., position check or quality inspection) before it can be transferred to a subsequent process. This inspection process is accelerated by the camera integrated into the kinematic structure of the manipulator according to the present embodiment.

[0044] In contrast, a state-of-the-art manipulator must position the workpiece at a defined location in front of a camera mounted in the production system and hold it there briefly to enable a suitable image capture. This leads to an increase in cycle time, i.e., a slowdown of the process compared to the present solution.

[0045] According to an advantageous embodiment, the camera can be mounted on the vertical support in a height-adjustable manner and / or pivotable about a horizontal axis perpendicular to the image axis. The camera's image axis can thus be aligned approximately with the robot flange or a tool attached to it for different vertical positions of the robot flange.

[0046] Alternatively or additionally, further measuring devices can advantageously be provided to directly measure the position of the TCP (especially in relation to the robot base or the vertical support). Likewise, the manipulator can advantageously also have additional sensors in the passive joints, for example to measure the current rotational angle, or in the drive units, for example to detect torques.

[0047] The manipulator can also advantageously feature a vertical beam drive unit for rotating the vertical beam about the vertical axis. Since the moment of inertia about the vertical axis is low, only a relatively small torque is required to pivot the manipulator about the vertical axis, making the vertical beam drive unit particularly advantageous to be designed as a direct drive.

[0048] Regarding its possible applications, the manipulator according to the invention is highly flexible and can easily be adapted to a wide variety of tasks, for example also for collaborative operation.

[0049] For a wide variety of applications, a control technology can be advantageously used that creates a defined Cartesian trajectory for the TCP movement, converts the trajectory into joint-specific movements via inverse kinematics, and sends the corresponding target positions to a so-called Motion Controller hands over the corresponding control of the drive units.

[0050] According to another aspect of the invention, a robot setup, in particular as part of an automated cable processing system, comprising a manipulator as described above, is provided.

[0051] The invention is explained in more detail below by way of example with reference to the accompanying schematic drawings. The drawings are not to scale; in particular, for the sake of clarity, the ratios of the individual dimensions to one another do not always correspond to the dimensional relationships in actual technical implementations. Several preferred embodiments are described, to which, however, the invention is not limited.

[0052] In principle, any variant of the invention described or indicated within the scope of the present application may be particularly advantageous, depending on the economic and technical conditions in the individual case.

[0053] It shows Fig. 1 shows a schematic diagram of an embodiment of the manipulator according to the invention, wherein the first and second drive units are designed as tiltable linear drives, Fig. 2 shows a schematic perspective view of a possible technical implementation of the manipulator according to Fig. 1 Fig. 3 shows a schematic diagram of an embodiment of the manipulator according to the invention, wherein the first and second drive units are designed as vertically arranged linear drives, and Fig. 4 shows a schematic perspective view of a possible technical implementation of the manipulator according to the invention. Fig. 3 Fig. 5 shows a schematic diagram of an embodiment of the manipulator according to the invention, wherein the first and second drive units are designed as rotary drives with a vertical axis of rotation; Fig. 6 shows a schematic perspective view of a possible technical implementation of the manipulator according to the invention. Fig. 5 Fig. 7 shows a schematic diagram of an embodiment of the manipulator according to the invention, wherein the first and second drive units are designed as rotary drives with a horizontal axis of rotation, and Fig. 8 shows a schematic perspective view of a possible technical implementation of the manipulator according to the invention. Fig. 7 , Fig. 9 a possible constructive design of the passive arm of a according to Fig. 7 The designed manipulator in perspective view with proximal link, distal link, adapter and robot flange, Fig. 10a also in perspective view the passive arm made of Fig. 9 together with a possible constructive design of associated proximal and distal tension-compression element pairs, each designed as a combination of rocker arm and linkage, Fig. 10b the arrangement of Fig. 10a In a side view, i.e., with the viewing direction orthogonal to the plane spanned by the vertical axis and the cantilever direction of the crossbeam, Fig. 10c, the arrangement of Fig. 10a and 10b in frontal view, i.e., looking from the right Fig. 10b , Fig. 10d the arrangement of Fig. 10a , 10b and 10c in the top view, i.e., looking from above. Fig. 10c , Fig. 11 the schematic perspective representation of an essentially as in Fig. 8 manipulator with rotatable tool and associated third drive unit mounted on the robot flange, Fig. 12, a schematic diagram of a manipulator essentially as in Fig. 11 The manipulator with a rotatable tool and a camera arranged on the vertical support for monitoring the tool use, Fig. 13, is a schematic perspective representation of a possible technical implementation of the manipulator according to the following. Fig. 12 , and Fig. 14 the schematic perspective representation of a similar to that in Fig. 11 manipulators, in contrast to the third drive unit mounted on the crossbeam and connected to it via a torque transmission element designed as a telescopic cardan shaft for rotating the tool.

[0054] Elements that are fundamentally equivalent in their function are provided with the same reference symbols in each figure.

[0055] The in Fig. 1 The schematically depicted manipulator has a vertical beam 1 rotatable about the vertical axis z, a crossbeam 2 projecting from it, and two proximal pivot axes 3, 4 arranged on the crossbeam 2. The inner proximal strut assembly 5 is pivoted at the inner proximal pivot axis 3, and the outer proximal strut assembly 6 is pivoted at the outer proximal pivot axis 4. At the end regions of the inner and outer proximal strut assemblies 5, 6 opposite their respective pivot points, these are in turn pivoted at the inner and outer central pivot axes 7, 8, respectively.

[0056] The distance between the inner central hinge axis 7 and the outer central hinge axis 8 is equal to the distance between the inner proximal hinge axis 3 and the outer proximal hinge axis 4 and is determined by the adapter 9, which provides a mechanically rigid connection between the central hinge axes 7 and 8. In the plane of the drawing, which runs parallel to the plane defined by the vertical axis z and the cantilever direction of the crossbeam 2, the proximal hinge axes 3 and 4 and the central hinge axes 7 and 8 thus form a parallelogram.

[0057] The inner distal strut structure 11 is articulated at the inner central joint axis 7, and the outer distal strut structure 12 is articulated at the outer central joint axis 8. At the end regions of the inner and outer distal strut structures 11, 12 opposite their respective articulation points, these are in turn articulated at the inner and outer distal joint axes 13, 14, respectively.

[0058] The distance between the inner distal joint axis 13 and the outer distal joint axis 14 is equal to the distance between the inner central joint axis 7 and the outer central joint axis 8 and is determined by the robot flange 10, which provides a mechanically rigid connection between the distal joint axes 13 and 14. In the plane of the drawing, which runs parallel to the plane defined by the vertical axis z and the cantilever direction of the crossbeam 2, the distal joint axes 13 and 14 and the central joint axes 7 and 8 thus again form a parallelogram.

[0059] The proximal tension-compression element 15 is articulated to the inner proximal strut structure 5 and can be moved in the direction indicated by a double arrow 19 via the first drive unit 16, which is designed as a linear drive. Similarly, the distal tension-compression element 17 is articulated to the inner distal strut structure 11 and can be moved in the direction indicated by the corresponding double arrow 20 via the second drive unit 18, which is also designed as a linear drive.

[0060] By moving the tension-compression elements 15, 17 by means of the first and second drive units 16, 18, the inner strut structures 5, 11, which are articulated to the tension-compression elements 15, 17, can be deflected parallel to the plane spanned by the vertical axis z and the cantilever direction of the crossbeam 2. The deflection of the inner strut structures 5, 11 results in a corresponding deflection of the outer strut structures 6, 12, which are guided by means of the adapter 9 and robot flange 10.

[0061] The first drive unit 16 is tiltable about the horizontal first suspension axis 21, which is parallel to the joint axes 3, 4, 13, 14, and is mounted on the vertical support 1 to prevent the proximal tension-compression element 15 in the first drive unit 16 from tilting when the inner proximal strut structure 5 deflects. Similarly, the second drive unit 18 is tiltable about the horizontal second suspension axis 22, which is parallel to the joint axes 3, 4, 13, 14, and is mounted on the vertical support 1 to prevent the distal tension-compression element 17 in the second drive unit 18 from tilting when the inner distal strut structure 11 deflects.

[0062] A further drive unit for rotating the vertical support, which is rotatably mounted in the base 23, is preferably arranged outside the manipulator, which is pivotable about the vertical axis z, in the base 23, in order to keep the moving masses, i.e., in particular the moment of inertia of the manipulator with respect to the vertical axis z, as low as possible. The torque required to pivot the manipulator about the vertical axis z can, for example, be introduced via a toothed ring arranged coaxially with the vertical axis. Instead of a mechanical transmission element, such as a toothed ring, a direct drive can preferably be provided to pivot the vertical support 1 about the vertical axis z, so that no mechanical transmission elements (such as a gear drive) are required and mechanical losses, for example due to friction, backlash, or elasticity of the components used, can be avoided.The drive axis of the direct drive then advantageously coincides with the vertical axis z. Such an arrangement advantageously utilizes the fact that, due to the low moment of inertia about the vertical axis z, only a relatively small torque is required to rotate the vertical support 1.

[0063] By controlled or regulated pivoting of the crossbeam 2, which is rotationally fixed to the vertical support 1, relative to the plane of the drawing, and by controlled or – for example, through the use of suitable servo drives – regulated deflection of the strut structures 5, 6, 11, 12, the Tool Center Point TCP located on the robot flange 10, or a tool or measuring device attached there, can be positioned three-dimensionally. The robot flange 10 is always horizontally aligned, i.e., parallel to the base of the manipulator, via the mechanical positive guidance.

[0064] Due to the relatively small moving masses of the passive arm formed by strut structures 5, 6, 11, 12, adapter 9 and robot flange and the masses of the first and second drive units 16, 18 arranged in the immediate vicinity of the vertical axis z, relatively small moments of inertia have to be overcome to position the Tool Center Point TCP, which makes very short positioning times possible.

[0065] One possible advantageous technical implementation of the manipulator, whose function is described above, is based on the following: Fig. 1 As described, the schematic perspective representation in Fig. 2 The inner proximal strut structure 5 is designed here in the form of two mutually parallel inner proximal struts 5a, 5b. The inner distal strut structure 11 is designed in the form of two mutually parallel inner distal struts 11a, 11b. As a result, the proximal link formed by the inner and outer proximal strut structures 5a, 5b, 6, as well as the distal link of the passive arm formed by the inner and outer distal strut structures 11a, 11b, 12, are largely torsionally rigid and flexurally rigid with respect to forces transverse to the plane spanned by the vertical axis z and the cantilever direction of the crossbeam 2.

[0066] The outer proximal strut 6 and outer distal strut 12, arranged radially further outwards from the vertical axis z than the inner strut structures 5a, 5b, 6a, 6b, 11a, 11b, are each designed as a single strut. This keeps the moment of inertia for pivoting movements of the manipulator about the vertical axis z low.

[0067] The pivot points of the proximal strut structures 5a, 5b, 6 at the proximal joint axes 3, 4 and central joint axes 7, 8, or at the crossbeam 2 and the Y-shaped adapter 9, form an oblique prism that dictates the forced guidance of the proximal limb of the active arm. The pivot points of the distal strut structures 11a, 11b, 12 at the distal joint axes 13, 14 and central joint axes 7, 8, or at the robot flange and the Y-shaped adapter 9, form an oblique prism that dictates the forced guidance of the distal limb of the active arm.

[0068] The vertical support 1 is formed by vertical beams 1a, 1b, between which the first drive unit 16 and the second drive unit 18 are suspended. This concentrates the mass of the drive units 16 and 18 close to the vertical axis z, resulting in a correspondingly low moment of inertia with respect to the vertical axis z. In particular, the vertical axis z penetrates the first drive unit 16 and the second drive unit 18, and the centers of gravity of the first drive unit 16 and the second drive unit 18, when projected onto a horizontal plane, are each closer to the vertical axis than at any point on the outer contour of the respective drive unit.Furthermore, in none of the four sectors lying between any two orthogonal planes whose line of intersection coincides with the vertical axis z is more than two-thirds of the mass of the first drive unit or more than two-thirds of the mass of the second drive unit 18 concentrated. Preferably, the respective center of mass of the stators of the drive units 16, 17 lies on the vertical axis z.

[0069] Figuren 3 and 4 The former, as a schematic diagram, and the latter, as a schematic perspective representation of a possible technical implementation, show a manipulator similar to the one in Fig. 1 or Fig. 2 The manipulator shown is constructed as follows. In particular, the structure of the passive arm, consisting of inner proximal strut construction 5, 5a, 5b, outer proximal strut construction 6, adapter 9, inner distal strut construction 11, 11a, 11b, outer distal strut construction 12, and robot flange 10, corresponds to the structure of the passive arm in Figuren 1 and 2 .

[0070] Unlike Figuren 1 and 2However, the first drive unit 16 is actively vertically displaceable on the second beam 1b of the vertical support 1, and the second drive unit 18 is actively vertically displaceable on the first beam 1a of the vertical support 1, the active vertical displaceability of the drive units 16, 18 being achieved by the linear actuators implemented in these drive units 16, 18. The proximal push-pull element 15 is articulated to the periphery of the first drive unit 16 by means of the lateral joint 24, and the distal push-pull element 17 is articulated to the periphery of the second drive unit 18 by means of the lateral joint 25.

[0071] The pivot points of the proximal push-pull element 15 are endpoints of the hypotenuse of an isosceles triangle whose (not shown) third vertex is located vertically above the lateral joint 24. Similarly, the pivot points of the distal push-pull element 17 are endpoints of the hypotenuse of an isosceles triangle whose (not shown) third vertex is located vertically below the lateral joint 25. By moving the drive units 16 and 18, the acute angles and thus the lengths of the opposite sides (with respect to the respective lateral joints 24, 25) of the right-angled triangles thus defined change; that is, the horizontal distance of the pivot points 26, 27 of the push-pull elements 15, 17 on the inner strut structures 5, 11 from the vertical support 1 changes, resulting in a corresponding movement of the passive arm of the manipulator.

[0072] By controlled or regulated pivoting of the crossbeam 2, which is rotationally fixed to the vertical support 1, relative to the plane of the drawing, and by controlled or, in the illustrated embodiment, regulated deflection of the strut structures 5, 6, 11, 12 through the use of servo drives, the Tool Center Point TCP located on the robot flange 10, or a tool or measuring device attached there, can again be positioned three-dimensionally. The robot flange 10 is always horizontally aligned, i.e., parallel to the base of the manipulator, via the mechanical positive guidance.

[0073] Due to the relatively small moving masses of the passive arm formed by strut structures 5, 6, 11, 12, adapter 9 and robot flange and the masses of the first and second drive units 16, 18 arranged in the immediate vicinity of the vertical axis z, relatively small moments of inertia have to be overcome to position the Tool Center Point TCP, which makes very short positioning times possible.

[0074] In contrast to the exemplary embodiment of the Figuren 1 and 2The drive units 16, 18 do not need to be mounted on the vertical support 1 in a tiltable manner. For this purpose, the vertical axis z runs outside the drive units 16, 18. Nevertheless, the masses of the drive units 16, 18 can still be arranged at least so close to the vertical axis z that the horizontal distance between the center of gravity of the first drive unit 16 and the vertical axis z, as well as the horizontal distance between the center of gravity of the second drive unit 18 and the vertical axis z, is less than half, preferably one-third, of the horizontal distance between the inner proximal pivot axis 3 and the vertical axis z.

[0075] Figuren 5 and 6 The former, as a schematic diagram, and the latter, as a schematic perspective representation of a possible technical implementation, show a manipulator similar to those in Fig. 1 or Fig. 2 as well as Fig. 3 or Fig. 4 The passive arm is constructed from the manipulators shown. In particular, the structure of the passive arm, consisting of inner proximal strut construction 5, 5a, 5b, outer proximal strut construction 6, adapter 9, inner distal strut construction 11, 11a, 11b, outer distal strut construction 12, and robot flange 10, corresponds to the structure of the passive arm in Figuren 1 , 2 , 3 and 4 .

[0076] Unlike Figuren 1 and 2However, the first drive unit 16 and the second drive unit 18 are designed as rotary drives, which drive a first rocker arm 28 and a second rocker arm 29, respectively, which are mounted coaxially with the vertical axis z. The proximal (double) link 30, 30a, 30b is eccentrically connected to the first rocker arm 28 and to the inner proximal strut structure 5, 5a, 5b. The distal (double) link 31, 31a, 31b is eccentrically connected to the second rocker arm 29 and to the inner distal strut structure 11, 11a, 11b. The first swing arm 28 and the proximal (double) link 30, 30a, 30b thus form the proximal tension-compression element 15, the second swing arm 29 and the distal (double) link 31, 31a, 31b the distal tension-compression element 17.The mounting of the individual elements 30a, 30b, 31a, 31b of the two double links on the corresponding swing arm 28, 29 and inner strut structure 5, 11 is each realized by means of ball joints.

[0077] By controlled or regulated pivoting of the crossbeam 2, which is rotationally fixed to the vertical beam 1, relative to the plane of the drawing, and by controlled or regulated deflection of the strut structures 5, 6, 11, 12, the Tool Center Point TCP located on the robot flange 10, or a tool or measuring device attached there, can again be positioned three-dimensionally. The robot flange 10 is always horizontally aligned, i.e., parallel to the base of the manipulator, via the mechanical positive guidance.

[0078] Due to the relatively small moving masses of the passive arm formed by strut structures 5, 6, 11, 12, adapter 9 and robot flange and the masses of the first and second drive units 16, 18 arranged in the immediate vicinity of the vertical axis z, relatively small moments of inertia have to be overcome to position the Tool Center Point TCP, which makes very short positioning times possible.

[0079] Figuren 7 and 8 The former, in turn, as a principle diagram and the latter as a schematic perspective representation of a possible technical implementation, show a manipulator similar to those in Fig. 1 or Fig. 2 , Fig. 3 or Fig. 4 as well as Fig. 5 or Fig. 6 The manipulators shown are constructed as follows. A difference lies in the arrangement of the first and second drive units 16, 18, which in the present embodiment are designed as rotary drives with horizontal drive axes, as described below.

[0080] The manipulator comprises a vertical support 1 rotatably mounted about the vertical axis z at the base 23 by means of a further drive unit, a crossbeam 2 non-rotatably connected to and cantilevered from the vertical support 1, and two proximal pivot axes 3, 4 arranged on the crossbeam 2. The inner proximal strut assembly 5 is pivoted at the inner proximal pivot axis 3, and the outer proximal strut assembly 6 is pivoted at the outer proximal pivot axis 4. At the end regions of the inner and outer proximal strut assemblies 5, 6 opposite their respective pivot points, these strut assemblies are in turn pivoted at the inner and outer central pivot axes 7, 8, respectively.

[0081] The adapter 9 provides a mechanically rigid connection between the center hinge axes 7 and 8 and defines the distance between the inner center hinge axis 7 and the outer center hinge axis 8, such that this distance corresponds to the distance between the inner proximal hinge axis 3 and the outer proximal hinge axis 4. In the plane of the drawing, which runs parallel to the plane defined by the vertical axis z and the cantilever direction of the crossbeam 2, the proximal hinge axes 3 and 4 and the center hinge axes 7 and 8 thus form a parallelogram.

[0082] The inner distal strut structure 11 is articulated at the inner central joint axis 7, and the outer distal strut structure 12 is articulated at the outer central joint axis 8. At the end regions of the inner and outer distal strut structures 11, 12 opposite their respective articulation points, these are in turn articulated at the inner and outer distal joint axes 13, 14, respectively.

[0083] The distance between the inner distal joint axis 13 and the outer distal joint axis 14 is equal to the distance between the inner central joint axis 7 and the outer central joint axis 8 and is determined by the robot flange 10, which provides a mechanically rigid connection between the distal joint axes 13 and 14. In the plane of the drawing, which runs parallel to the plane defined by the vertical axis z and the cantilever direction of the crossbeam 2, the distal joint axes 13 and 14 and the central joint axes 7 and 8 thus form a parallelogram.

[0084] The proximal tension-compression element 15 is articulated to the inner proximal strut structure 5 and is driven via the first drive unit 16, which is designed as a rotary drive (in Fig. 7 (not shown) is movable. Likewise, the distal tension-compression element 17 is articulated to the inner distal strut structure 11, which is in turn designed as a rotation drive via the second drive unit 18 (in Fig. 7 (not shown) is movable. In Figur 7 Only the axis of rotation 32 of the first drive unit 16 and the axis of rotation 33 of the second drive unit 18 are shown, both of which are horizontal and orthogonal to the plane defined by the vertical axis and the cantilever direction of the crossbeam 2. The rocker section 28 of the proximal tension-compression element 15 is mounted on the axis of rotation 32 of the first drive unit 16 and is rotatable from it. A link section 30 of the proximal tension-compression element 15, eccentrically connected to the rocker section 28 and the inner proximal strut structure 5, transmits a force component parallel to the cantilever direction of the crossbeam 2 to the inner proximal strut structure 5. The rocker section 29 of the distal tension-compression element 17 is mounted on the axis of rotation 33 of the second drive unit 18 and is rotatable from it.An eccentrically articulated linkage section 31 of the proximal tension-compression element 15, attached to the swing section 29 and to the inner distal strut structure 11, transmits a force component parallel to the cantilever direction of the cross member 2 to the inner distal strut structure 11.

[0085] Are the inner strut structures 5, 11 as in Fig. 8 Shown as pairs of struts 5a, 5b and 11a, 11b respectively, and the outer strut constructions 6, 12 each designed as a single strut, the pivot points of the proximal strut constructions 5a, 5b, 6 on the proximal joint axes 3, 4 (or on the crossbeam 2) and on the central joint axes 7, 8 (or on the adapter 9) form an oblique prism, and the pivot points of the distal strut constructions 11a, 11b, 12 on the distal joint axes 13, 14 (or on the robot flange 10) and on the central joint axes 7, 8 (or on the adapter 9) also form an oblique prism.

[0086] Advantageously, the force transmission from the drive units 16, 18 to the links of the active arm can then be effected by means of tension-compression element pairs 15a, 15b, 17a, 17b, as also shown in Fig. 8 depicted.

[0087] The first drive unit 16 drives a first pair of swing arms, of which in Fig. 8 Only one swing arm 28a is visible. An eccentrically articulated linkage pair 30a, 30b to the first pair of swing arms and to the inner proximal pair of struts 5a, 5b transmits tensile or compressive forces to the inner proximal pair of struts 5a, 5b and thus to the proximal link of the passive arm of the manipulator.

[0088] The second drive unit 18 drives a second pair of swing arms, of which in Fig. 8 Again, only one rocker arm 29a is visible. An eccentrically articulated linkage pair 30a, 30b, connected to the second rocker arm pair and to the inner distal strut pair 11a, 11b, transmits tensile or compressive forces to the inner proximal strut pair 5a, 5b and thus to the distal segment of the passive arm of the manipulator.

[0089] The first and second drive units 16, 18 are in Fig. 8 between the vertical beams 1a, 1b, which form the vertical support 1. This results in the mass of the drive units 16 and 18 being concentrated close to the vertical axis z, and the moment of inertia with respect to the vertical axis z being correspondingly low. In particular, the vertical axis z penetrates the first drive unit 16 and the second drive unit 18, and the centers of gravity of the first and second drive units, when projected onto a horizontal plane, are each closer to the vertical axis than at any point on the outer contour of the respective drive unit. Furthermore, in none of the four sectors lying between any two orthogonal planes whose line of intersection coincides with the vertical axis z is more than two-thirds of the mass of the first drive unit or more than two-thirds of the mass of the second drive unit concentrated.

[0090] The drive units 16, 18 can each advantageously be designed as a direct drive, to the output of which the respective rocker arm 28a, 28b, 29a, 29b is directly and non-rotatably connected. The rotor of the respective direct drive can be designed as a hollow shaft within a stator. The movement of the respective rotor relative to the respective stator can be detected by an angle measuring device, which can also be provided in a segmented design.

[0091] By controlled or regulated pivoting of the crossbeam 2, which is rotationally fixed to the vertical support 1, relative to the plane of the drawing, and by controlled deflection of the strut structures 5, 6, 11, 12, the Tool Center Point TCP located on the robot flange 10, or a tool or measuring device attached there, can again be positioned three-dimensionally. The robot flange 10 is always horizontally aligned, i.e., parallel to the base of the manipulator, via the mechanical positive guidance.

[0092] Due to the relatively small moving masses of the passive arm formed by strut structures 5, 6, 11, 12, adapter 9, and robot flange, and the masses of the first and second drive units 16, 18 arranged in close proximity to the vertical axis z, relatively small moments of inertia need to be overcome to position the Tool Center Point TCP, thus enabling very short positioning times. The manipulator, in turn, includes a drive, preferably designed as a direct drive, for rotating the vertical support 1 about the vertical axis z; this direct drive is not shown separately in the figures.

[0093] Fig. 9 shows a possible constructive design of the passive arm of a according to Fig. 7 and similar Fig. 8 designed manipulator in perspective view. Fig. 10a shows (also in perspective view) the passive arm Fig. 9 together with a possible constructive design of associated proximal and distal tension-compression element pairs 15a, 15b, 17a, 17b, each of which is designed as a combination of swing arm 28a, 28b, 29a, 29b and linkage 30a, 30b, 31a, 31b. Fig. 10b shows the arrangement Fig. 10a in a side view, i.e. with a viewing direction orthogonal to the plane spanned by the vertical axis z and the cantilever direction of the crossbeam 2, Fig. 10c in frontal view, i.e., looking from the right Fig. 10b , and Fig. 10d in the top view, i.e., looking from above. Fig. 10c .

[0094] The inner proximal strut structure 5 comprises two longitudinal struts 5a, 5b connected to each other by truss-like cross struts 5c. The inner proximal longitudinal struts 5a, 5b are supported on the inner proximal pivot axis 3 on the crossbeam 2 by means of angular contact ball bearings 35a, 35b. The inner proximal longitudinal struts 5a, 5b are also supported on the inner central pivot axis 7 on the Y-shaped adapter 9 by means of angular contact ball bearings 36a, 36b. The outer proximal strut structure 6, designed as a single strut, is similarly supported on the outer proximal pivot axis 4 on the crossbeam 2 and on the outer central pivot axis 8 on the Y-shaped adapter 9 by means of angular contact ball bearings 34, 38.

[0095] The inner distal strut structure 11 has two longitudinal struts 11a, 11b which are widened parallel to the plane defined by the vertical axis z and the cantilever direction of the crossbeam 2 to improve their stiffness, but are provided with cutouts to reduce mass. The inner distal longitudinal struts 11a, 11b are mounted on the adapter 9 on the inner central joint axis 7 by means of angular contact ball bearings 40a, 40b. The robot flange 10 is also mounted on the inner distal longitudinal struts 11a, 11b on the inner distal joint axis 13 by means of angular contact ball bearings 40a, 40b. The outer distal strut structure 12, designed as a single strut, is similarly mounted on the robot flange 10 on the outer distal joint axis 14 and on the Y-shaped adapter 9 on the outer central joint axis 8 by means of angular contact ball bearings 39, 41.

[0096] Two single-row angular contact ball bearings 34, 35a, 35b, 36a, 36b, 37a, 37b, 38, 39, 40a, 40b, 41 are used at each bearing position. These are preloaded on the inner rings via a bearing shaft screw to reduce bearing play.

[0097] The same applies to the angular contact ball bearings 42a, 42b, 43a, 43b, with which the outer ends of the proximal control arms 30a, 30b are each centrally connected to the inner proximal longitudinal struts 5a, 5b and the inner ends of the proximal control arms 30a, 30b are each eccentrically connected to the swing arms 28a, 28b, as well as to the angular contact ball bearings 44a, 44b, 45a, 45b, with which the outer ends of the distal control arms 31a, 31b are each connected to the inner distal longitudinal struts 11a, 11b and the inner ends of the distal control arms 31a, 31b are each eccentrically connected to the swing arms 29a, 29b.

[0098] The swing arms 28a, 28b of the proximal tension-compression element pair 15 are rotatably connected to the rotary drive of the first drive unit 16 via the respective flange 46a, 46b, and the swing arms 29a, 29b of the distal tension-compression element pair 17 are connected to the rotary drive of the second drive unit 18 via the respective flange 47a, 47b.

[0099] To increase the torsional stiffness of the control arms 30a, 30b, 31a, 31b, these are double-forked and thus partially double-braced.

[0100] The swing arms 28a, 28b, 29a, 29b can advantageously be made of an aluminum alloy, and the tension-compression rods of the control arms 30a, 30b, 31a, 31b of carbon fiber reinforced plastic (CFRP). However, depending on the application, a person skilled in the art will also be able to use other suitable materials.

[0101] Fig. 11 shows in a schematic perspective representation an essentially like in Fig. 8 The manipulator is as described. Additionally, a tool 48 is mounted on the robot flange 10. The tool 48 can be rotated or oriented by means of the third drive unit 49, which is also mounted on the robot flange 10.

[0102] Since the robot flange 10 is always horizontally aligned, i.e. parallel to the base of the manipulator, due to the mechanical forced guidance of the passive arm by means of the two oblique prisms, the axis of rotation of the tool 48 is always vertical.

[0103] Fig. 12 shows a schematic diagram of an essentially similar design. Fig. 11 The manipulator consists of a rotatable tool 48 and a camera 52, arranged on the vertical support and thus integrated into the manipulator's kinematic structure, for monitoring tool use. The camera 52 is mounted concentrically with the vertical axis z on the vertical support 1 and aligned so that its optical axis points towards the gripper 48. The gripper 48 is attached to the robot flange 10.

[0104] Fig. 13 shows a schematic perspective representation of a possible technical implementation of the manipulator according to Fig. 12 The structure with the two vertical beams 1a, 1b allows the camera 52 to be mounted between them in the vertical support 1. When a workpiece is gripped by the gripper 48, the gripper 48 can be positioned close to or on the optical axis of the camera 52. The orientation of the gripper 48 can be controlled via the third drive unit 49.

[0105] This enables the following process: A workpiece is picked up by the gripper 48. The manipulator positions the workpiece in the optical axis of the camera 52 by appropriately deflecting the passive arm using the first and second drive units 16, 18.

[0106] The manipulator orients the workpiece using the third drive unit 49. A movement by the drive unit in the base 23 moves the workpiece to its target position. During this pivoting movement, the camera 52 can capture an image. The workpiece's pose remains constant relative to the camera 52. The target position can be reached using the first, second, and third drive units 16, 18, and 49. This enables continuous movement of the workpiece without the manipulator having to move or stop it at a test position in the production system. The cycle time can therefore be reduced accordingly.

[0107] In Fig. 14 is similar to in Fig. 11 The manipulator as executed is shown in a schematic perspective view. In particular, the strut structures 5a, 5b, 6, 11a, 11b and 12 of the passive arm are shown as in Fig. 11 arranged and alignable by means of the drive units 16 and 18 via the tension-compression element pairs 15a, 15b, 17a, 17b with the linkages 30a, 30b, 31a, 31b.

[0108] The tool 48 is in turn rotatably mounted on the robot flange 10. Unlike Fig. 11 The associated third drive unit 49 is, however, mounted on the crossbeam 2 and closer to the vertical axis z of the vertical support 1. The torque of the third drive unit 49 is transmitted to the tool 48 via the shaft 50 with universal joint 51. To prevent this drive train from binding when the links of the passive arm are adjusted, the shaft 50 is designed as a telescopic shaft, and the third drive unit 49 is tiltably suspended between two crossbeams 2a, 2b of the crossbeam 2 about the axis 52, which is parallel to the joint axes 3, 4, 13, 14 and the center joint axes 7, 8. Instead of tilting the third drive unit 49, it can also be fixedly mounted on the crossbeam 2, and another universal joint can be provided in the shaft 50.

[0109] By arranging the third drive unit 49 at a smaller radial distance to the vertical axis z of the vertical support 1, the following advantages are achieved compared to the embodiment of the Fig. 11 The moment of inertia required to pivot the manipulator is further reduced.

[0110] The moment of inertia of the manipulator with respect to the vertical axis z can be reduced even further by adjusting the vertical tie bars 1a, 1b relative to the Fig. 14 extended upwards and the third drive unit 49 is mounted above the first drive unit 16 between the vertical beams 1a, 1b while simultaneously extending the shaft 50.

[0111] The manipulators described above can each be designed as part of a robot assembly (not shown in further detail) and can be controlled, for example, to function as so-called High-Speed-Picker The robot grasps small parts at a first location, then performs a pivoting movement around the vertical axis z and places the grasped small parts at a second location. The small part or corresponding workpiece can be, but is not limited to, a connector housing, a contact component, or a contact carrier, and is therefore particularly suitable for cable assembly. During the pivoting movement around the vertical axis z, the grasped small part or workpiece is oriented into a defined position and placed in this defined position. The robot setup described above can, in turn, be part of an automated, and especially modular, cable processing system, in which small parts, particularly in bulk, are presented at one station, and the respective small part grasped by the manipulator is placed in the defined position next to a stripped, partially processed cable end for further processing.The manipulator described above is moved cyclically back and forth between a starting position and an end position, and is periodically pivoted around the vertical axis z with a short cycle time of approximately four seconds or less, during which the small part being picked up is also appropriately oriented by suitable control.

[0112] For such and similar applications, a control technique can be used that creates a defined Cartesian trajectory for the TCP movement, converts the trajectory into joint-specific movements via inverse kinematics, and sends the corresponding target positions to a so-called Motion Controller hands over the corresponding control of the drive units.

Claims

1. Manipulator, having a vertical carrier (1) rotatable about a vertical axis (z), a crossmember (2) which is connected to the vertical carrier (1) so as to rotate with it and projects from the vertical carrier (1), an inner proximal joint pin (3) arranged on the crossmember (2) and spaced apart from the vertical carrier (1), an outer proximal joint pin (4) arranged on the crossmember (2) and spaced apart from the vertical carrier further than the inner proximal joint pin (3), an inner proximal strut construction (5) having a proximal end region, articulated on the inner proximal joint pin (3), and a distal end region, an outer proximal strut construction (6) having a proximal end region, articulated on the outer proximal joint pin (4), and a distal end region, an inner mid-joint pin (7) arranged on the distal end region of the inner proximal strut construction (5), an outer mid-joint pin (8) arranged on the distal end region of the outer proximal strut construction (6), an inner distal strut construction (11) having a proximal end region, articulated on the inner mid-joint pin (7), and a distal end region, an outer distal strut construction (12) having a proximal end region, articulated on the outer mid-joint pin (8), and a distal end region, an inner distal joint pin (13) arranged on the distal end region of the inner distal strut construction (11), an outer distal joint pin (14) arranged on the distal end region of the outer distal strut construction (12), an adapter (9) which is articulated on the inner mid-joint pin (7) and the outer mid-joint pin (8), a robot flange articulated on the inner distal joint pin (13) and the outer distal joint pin (14), a first drive unit (16) attached to the vertical carrier (1), a proximal push-pull element (15) for transmitting a force component, parallel to the projecting direction of the crossmember (2), from the first drive unit (16) to one of the proximal strut constructions (5, 6), a second drive unit (18) attached to the vertical carrier (1), and a distal push-pull element (17) for transmitting a force component, parallel to the projecting direction of the crossmember (2), from the second drive unit (18) to one of the distal strut constructions (11, 12), wherein the inner and outer distal and proximal joint pins (3, 4, 11, 12) and the mid-joint pins are arranged orthogonally with respect to the plane spanned by the vertical axis and the projecting direction of the crossmember (2).

2. Manipulator according to Claim 1, further comprising a further push-pull element which, together with the proximal push-pull element, forms a proximal push-pull element pair (15a, 15b) for transmitting the force component, parallel to the projecting direction of the crossmember (2), from the first drive unit (16) to one of the proximal strut constructions (5, 6), and / or a further push-pull element which, together with the distal push-pull element, forms a distal push-pull element pair (17a, 17b) for transmitting the force component, parallel to the projecting direction of the crossmember (2), from the first drive unit to one of the distal strut constructions (11, 12).

3. Manipulator according to either of the preceding claims, wherein the proximal push-pull element (15) or element pair (15a, 15b) is configured to transmit the force component, parallel to the projecting direction of the crossmember (2), from the first drive unit (16) to the inner proximal strut construction (6), and / or the distal push-pull element (17) or element pair (17a, 17b) is configured to transmit the force component, parallel to the projecting direction of the crossmember (2), from the second drive unit (18) to the inner distal strut construction (11).

4. Manipulator according to one of the preceding claims, wherein the first drive unit (16) and / or the second drive unit (18) are / is designed as a linear drive.

5. Manipulator according to one of Claims 1-3, wherein the first drive unit (16) and / or the second drive unit are / is designed as a rotational drive (18), and wherein preferably the proximal push-pull element (15) has a first link (28), connected to the first drive unit (16), and a proximal link (30), articulated on the first link (28) and the one of the proximal strut constructions (5, 6), and / or the distal push-pull element (17) has a second link (29), connected to the second drive unit (18), and a distal link (31) articulated on the second link (29) and the one of the distal strut constructions (11, 12).

6. Manipulator according to one of the preceding claims, wherein the inner proximal strut construction (5) has an inner proximal strut pair (5a, 5b) which is preferably connected to one another via an inner proximal transverse strut construction (5c), and / or the inner distal strut construction (11) has an inner distal strut pair (11a, 11b) which is preferably connected to one another via an inner distal transverse strut construction.

7. Manipulator according to one of the preceding claims, wherein the outer proximal strut construction (6) is designed as an outer proximal individual strut, and / or the outer distal strut construction (12) is designed as an outer distal individual strut.

8. Manipulator according to one of the preceding claims, wherein the horizontal distance between the centre of gravity of the first drive unit (16) and the vertical axis (z) and / or the horizontal distance between the centre of gravity of the second drive unit (18) and the vertical axis (z) is less than half, preferably less than a third, of the horizontal distance between the inner proximal joint pin (3) and the vertical axis (z).

9. Manipulator according to one of the preceding claims, wherein the vertical axis (z) passes through the first drive unit (16) and / or the second drive unit (18), and wherein preferably, in a projection onto a horizontal plane, the centre of gravity of the first drive unit (16) lies closer to the vertical axis (z) than to any arbitrary point of the outer contour of the first drive unit (16), and / or the centre of gravity of the second drive unit (18) lies closer to the vertical axis (z) than to any arbitrary point of the outer contour of the second drive unit (16).

10. Manipulator according to one of the preceding claims, wherein more than two thirds of the mass of the first drive unit (16) and / or more than two thirds of the mass of the second drive unit (18) are not concentrated in any of the four sectors which lie between two arbitrary planes which lie orthogonally with respect to one another and the intersection line of which coincides with the vertical axis (z).

11. Manipulator according to one of the preceding claims, wherein the vertical carrier (1) has two vertical spars (1a, 1b), and wherein preferably (i) the first drive unit (16) is attached to one of the vertical spars (1a, 1b), and the second drive unit (18) is attached to the second one of the vertical spars (1a, 1b), or (ii) the first drive unit (16) and / or the second drive unit (18) are / is arranged between the vertical spars (1a, 1b).

12. Manipulator according to one of the preceding claims, wherein an effector (48) is provided on the robot flange (10), and wherein preferably the effector (48) is rotatable relative to the robot flange (10), and the manipulator has a third drive unit (49) for rotating the effector (48).

13. Manipulator according to Claim 12, wherein the third drive unit (49) is attached to the vertical carrier (1) or to the crossmember (2), the manipulator has, furthermore, a torque transmission element, in particular a cardan shaft (50), which connects the third drive unit (49) to the effector (48), and the torque transmission element, in particular the cardan shaft (50), is a telescopic shaft or is mounted in an axially displaceable manner in the third drive unit (49).

14. Manipulator according to Claim 13, wherein the horizontal distance between the centre of gravity of the third drive unit (49) and the vertical axis (z) is less than half the horizontal distance between the inner proximal joint pin (3) and the vertical axis (z), and wherein preferably the third drive unit (49) is attached to the vertical carrier (1), and the vertical axis (z) passes through the third drive unit (49).

15. Manipulator according to one of the preceding claims, furthermore having a camera (52) which is connected to the vertical carrier (1) so as to rotate with it and the optical axis of which coincides, in the horizontal projection, with the projecting direction of the crossmember (2) or forms an angle of at most 15 degrees with the projecting direction of the crossmember (2).

16. Manipulator according to Claim 15, wherein the camera (52) is height-adjustable and / or pivotable about a horizontal axis lying orthogonally with respect to the optical axis.

17. Manipulator according to one of the preceding claims, furthermore having a vertical carrier drive unit, in particular in the form of a direct drive, for rotating the vertical carrier about the vertical axis (z).

18. Robot construction, in particular as part of an automated cable processing installation, comprising a manipulator according to one of the preceding claims.